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1/*
2 Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
3 Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
4
5 This software is provided 'as-is', without any express or implied
6 warranty. In no event will the authors be held liable for any damages
7 arising from the use of this software.
8
9 Permission is granted to anyone to use this software for any purpose,
10 including commercial applications, and to alter it and redistribute it
11 freely, subject to the following restrictions:
12
13 1. The origin of this software must not be misrepresented; you must not
14 claim that you wrote the original software. If you use this software
15 in a product, an acknowledgment in the product documentation would be
16 appreciated but is not required.
17 2. Altered source versions must be plainly marked as such, and must not be
18 misrepresented as being the original software.
19 3. This notice may not be removed or altered from any source distribution.
20*/
21
22using System;
23using System.Collections.Generic;
24using System.Text;
25using MonoXnaCompactMaths;
26
27namespace XnaDevRu.BulletX.Dynamics
28{
29 public class SimpleDynamicsWorld : DynamicsWorld
30 {
31 private IConstraintSolver _constraintSolver;
32 private bool _ownsConstraintSolver;
33 private Vector3 _gravity;
34 private IDebugDraw _debugDrawer;
35
36 /// <summary>
37 /// this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
38 /// </summary>
39 /// <param name="dispatcher"></param>
40 /// <param name="pairCache"></param>
41 /// <param name="constraintSolver"></param>
42 public SimpleDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
43 : base(dispatcher, pairCache)
44 {
45 _constraintSolver = constraintSolver;
46 _ownsConstraintSolver = false;
47 _gravity = new Vector3(0, 0, -10);
48 }
49
50 public override Vector3 Gravity
51 {
52 set
53 {
54 _gravity = value;
55 for (int i = 0; i < CollisionObjects.Count; i++)
56 {
57 CollisionObject colObj = CollisionObjects[i];
58 RigidBody body = RigidBody.Upcast(colObj);
59 if (body != null)
60 {
61 body.Gravity = value;
62 }
63 }
64 }
65 }
66
67 public override IConstraintSolver ConstraintSolver
68 {
69 set
70 {
71 _ownsConstraintSolver = false;
72 _constraintSolver = value;
73 }
74 }
75
76 public override IDebugDraw DebugDrawer
77 {
78 get
79 {
80 return _debugDrawer;
81 }
82 set
83 {
84 _debugDrawer = value;
85 }
86 }
87
88 public override void StepSimulation(float timeStep, int numSubsteps, float fixedTimeStep)
89 {
90 //apply gravity, predict motion
91 PredictUnconstraintMotion(timeStep);
92
93 DispatcherInfo dispatchInfo = new DispatcherInfo();
94 dispatchInfo.TimeStep = timeStep;
95 dispatchInfo.StepCount = 0;
96 dispatchInfo.DebugDraw = DebugDrawer;
97 //perform collision detection
98 PerformDiscreteCollisionDetection();
99
100 //solve contact constraints
101 int numManifolds = Dispatcher.ManifoldCount;
102 if (numManifolds != 0)
103 {
104
105 List<PersistentManifold> manifolds = (Dispatcher as CollisionDispatcher).Manifolds;
106 //int numManifolds = m_dispatcher1.GetNumManifolds();
107 ContactSolverInfo infoGlobal = new ContactSolverInfo();
108 infoGlobal.TimeStep = timeStep;
109
110 _constraintSolver.SolveGroup(new List<CollisionObject>(), manifolds, manifolds.Count, new List<TypedConstraint>(), infoGlobal, _debugDrawer);
111 }
112 //integrate transforms
113 IntegrateTransforms(timeStep);
114
115 UpdateAabbs();
116
117 SynchronizeMotionStates();
118 }
119
120 public override void UpdateAabbs()
121 {
122 for (int i = 0; i < CollisionObjects.Count; i++)
123 {
124 CollisionObject colObj = CollisionObjects[i];
125 RigidBody body = RigidBody.Upcast(colObj);
126 if (body != null)
127 {
128 if (body.IsActive && (!body.IsStaticObject))
129 {
130 Vector3 minAabb, maxAabb;
131 colObj.CollisionShape.GetAabb(colObj.WorldTransform, out minAabb, out maxAabb);
132 IBroadphase bp = Broadphase;
133 bp.SetAabb(body.Broadphase, minAabb, maxAabb);
134 }
135 }
136 }
137 }
138
139 public override void AddRigidBody(RigidBody body)
140 {
141 body.Gravity = _gravity;
142
143 if (body.CollisionShape != null)
144 {
145 AddCollisionObject(body);
146 }
147 }
148
149 public override void RemoveRigidBody(RigidBody body)
150 {
151 RemoveCollisionObject(body);
152 }
153
154 public void SynchronizeMotionStates()
155 {
156 for (int i = 0; i < CollisionObjects.Count; i++)
157 {
158 CollisionObject colObj = CollisionObjects[i];
159 RigidBody body = RigidBody.Upcast(colObj);
160 if (body != null && body.MotionState != null)
161 {
162 if (body.ActivationState != ActivationState.IslandSleeping)
163 {
164 body.MotionState.SetWorldTransform(body.WorldTransform);
165 }
166 }
167 }
168 }
169
170 protected void PredictUnconstraintMotion(float timeStep)
171 {
172 for (int i = 0; i < CollisionObjects.Count; i++)
173 {
174 CollisionObject colObj = CollisionObjects[i];
175 RigidBody body = RigidBody.Upcast(colObj);
176 if (body != null)
177 {
178 if (!body.IsStaticObject)
179 {
180 if (body.IsActive)
181 {
182 body.ApplyForces(timeStep);
183 body.IntegrateVelocities(timeStep);
184 Matrix temp = body.InterpolationWorldTransform;
185 body.PredictIntegratedTransform(timeStep, ref temp);
186 body.InterpolationWorldTransform = temp;
187 }
188 }
189 }
190 }
191 }
192
193 protected void IntegrateTransforms(float timeStep)
194 {
195 Matrix predictedTrans = Matrix.Identity;
196 for (int i = 0; i < CollisionObjects.Count; i++)
197 {
198 CollisionObject colObj = CollisionObjects[i];
199 RigidBody body = RigidBody.Upcast(colObj);
200 if (body != null)
201 {
202 if (body.IsActive && (!body.IsStaticObject))
203 {
204 body.PredictIntegratedTransform(timeStep, ref predictedTrans);
205 body.ProceedToTransform(predictedTrans);
206 }
207 }
208 }
209 }
210 }
211}
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